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Hello, thanks for posting
If you know for sure the keys are in the truck then you don't need to program the new key, You need to get into the truck to program the key anyway, What you can do to just get the truck opened up is to go to a locksmith or the closest Toyota dealer with your vehicle information, VIN etc and they can make you a cheap "dummy" this is not a transponder or keyless entry key), it will allow you to unlock the door and get your keys out
Thanks for the reply, you can have that key cut to fit the door lock, the only problem is that you don't have a key to use as a pattern so that eliminates places like the hardware stores or run of the mill key kiosks, the only ones that can make a key using the VIN # are the dealer and a local locksmith, if you decide to do that be sure to contact them first before going there and ask what information they need to make a new key.